RU2001133030A - ROBOTIZED CLEANING DEVICE, ROBOTIZED CLEANING SYSTEM AND METHOD FOR MANAGING THEM - Google Patents

ROBOTIZED CLEANING DEVICE, ROBOTIZED CLEANING SYSTEM AND METHOD FOR MANAGING THEM

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Publication number
RU2001133030A
RU2001133030A RU2001133030/12A RU2001133030A RU2001133030A RU 2001133030 A RU2001133030 A RU 2001133030A RU 2001133030/12 A RU2001133030/12 A RU 2001133030/12A RU 2001133030 A RU2001133030 A RU 2001133030A RU 2001133030 A RU2001133030 A RU 2001133030A
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RU
Russia
Prior art keywords
image
cleaning device
movement
cleaning
camera
Prior art date
Application number
RU2001133030/12A
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Russian (ru)
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RU2220643C2 (en
Inventor
Джонг-гон СОНГ
Янг-йон КО
Сюнг-бин МУН
Кёнг-му ЛИ
Original Assignee
Самсунг Гванджу Электроникс Ко., Лтд.
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Priority claimed from KR10-2001-0065888A external-priority patent/KR100406636B1/en
Application filed by Самсунг Гванджу Электроникс Ко., Лтд. filed Critical Самсунг Гванджу Электроникс Ко., Лтд.
Publication of RU2001133030A publication Critical patent/RU2001133030A/en
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Publication of RU2220643C2 publication Critical patent/RU2220643C2/en

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Claims (17)

1. Роботизированное чистящее устройство, предназначенное для осуществления чистки путем беспроводной связи с внешним устройством и содержащее приводной узел для привода колес, верхнюю камеру, расположенную на главном корпусе и предназначенную для съемки верхнего изображения перпендикулярно направлению перемещения, и контроллер для управления приводным узлом с обеспечением возможности перемещения роботизированного чистящего устройства в зоне чистки в соответствии с заданной схемой перемещения и коррекции траектории перемещения путем анализа изображения, снимаемого верхней камерой.1. Robotic cleaning device designed for cleaning by wireless communication with an external device and containing a drive unit for driving wheels, an upper camera located on the main body and designed to capture the upper image perpendicular to the direction of movement, and a controller to control the drive unit to enable the movement of the robotic cleaning device in the cleaning zone in accordance with a given pattern of movement and correction of the trajectory of movement Topics for analyzing the image captured by the top camera. 2. Чистящее устройство по п.1, в котором контроллер управляет приводным узлом с обеспечением перемещения в зоне чистки в соответствии с заданной схемой перемещения, и при работе в режиме составления карты зоны чистки создает карту изображения с привязкой к верхней зоне с использованием изображения, снимаемого верхней камерой; кроме того контроллер определяет положение путем сравнения карты изображения и текущего изображения, полученного от верхней камеры, и при получении сигнала чистки управляет приводным узлом в соответствии с целевой траекторией перемещения из определенного таким образом положения.2. The cleaning device according to claim 1, in which the controller controls the drive unit to provide movement in the cleaning zone in accordance with a predetermined movement pattern, and when working in the map mode of the cleaning zone creates an image map with reference to the upper zone using the image captured top camera; in addition, the controller determines the position by comparing the image card and the current image received from the upper camera, and upon receipt of the cleaning signal, controls the drive unit in accordance with the target trajectory of movement from the position thus determined. 3. Чистящее устройство по п.2, в котором контроллер создает карту изображения всякий раз при передаче сигнала чистки.3. The cleaning device according to claim 2, in which the controller creates an image card whenever a cleaning signal is transmitted. 4. Чистящее устройство по п.2, дополнительно содержащее переднюю камеру, расположенную на основном корпусе и предназначенную для съемки изображения по направлению перемещения, причем контроллер создает карту изображения путем трехмерного преобразования верхнего изображения, снимаемого верхней камерой, и переднего изображения, снимаемого передней камерой.4. The cleaning device according to claim 2, additionally containing a front camera located on the main body and designed to capture images in the direction of movement, and the controller creates an image map by three-dimensional conversion of the upper image captured by the upper camera and the front image captured by the front camera. 5. Чистящее устройство по п.2, в котором контроллер разбивает карту изображения на небольшие ячейки заданного размера, определяет наличие особого признака в этих ячейках и задает этот признак в качестве стандартной координатной точки для определения положения.5. The cleaning device according to claim 2, in which the controller divides the image map into small cells of a given size, determines the presence of a special feature in these cells, and sets this feature as a standard coordinate point for determining the position. 6. Чистящее устройство по п.6, в котором особый признак включает по меньшей мере один из таких элементов, как электрическая лампа, датчик пожарной сигнализации, люминесцентная лампа и репродуктор.6. The cleaning device according to claim 6, in which a particular feature includes at least one of such elements as an electric lamp, a fire alarm sensor, a fluorescent lamp and a reproducer. 7. Чистящее устройство по п.1, в котором контроллер выделяет линейный элемент в изображении, снимаемом верхней камерой при перемещении роботизированного чистящего устройства, и корректирует траекторию перемещения с использованием этого выделенного линейного элемента.7. The cleaning device according to claim 1, in which the controller selects a linear element in the image captured by the upper camera when moving the robotic cleaning device, and corrects the path using this selected linear element. 8. Роботизированная чистящая система, содержащая: приводной узел для привода колес, роботизированное чистящее устройство, содержащее верхнюю камеру, расположенную на главном корпусе и предназначенную для съемки верхнего изображения перпендикулярно направлению перемещения, и дистанционный контроллер для беспроводной связи с указанным чистящим устройством, причем дистанционный контроллер управляет роботизированным чистящим устройством с обеспечением его перемещения в зоне чистки в соответствии с заданной схемой перемещения и корректирует траекторию перемещения путем анализа изображения, переданного после съемки верхней камерой.8. A robotic cleaning system comprising: a drive unit for driving wheels, a robotic cleaning device comprising an upper chamber located on the main body and designed to capture the upper image perpendicular to the direction of movement, and a remote controller for wireless communication with the specified cleaning device, and a remote controller controls a robotic cleaning device to ensure its movement in the cleaning zone in accordance with a given movement pattern and commutes movement trajectory by analyzing the image transmitted after shooting the upper chamber. 9. Чистящая система по п.8, в которой дистанционный контроллер управляет роботизированным чистящим устройством с обеспечением его перемещения в зоне чистки в соответствии с заданной схемой перемещения, и при работе в режиме составления карты зоны чистки создает карту с привязкой к верхней зоне, используя изображение, снимаемого верхней камерой; кроме того дистанционный контроллер определяет положение роботизированного чистящего устройства путем сравнения карты изображения и текущего изображения, переданного с чистящего устройства после съемки этого изображения верхней камерой, и при получении сигнала чистки задает траекторию чистки роботизированного чистящего устройства из определенного таким образом положения для выполнения им намеченной работы.9. The cleaning system of claim 8, in which the remote controller controls the robotic cleaning device to ensure its movement in the cleaning zone in accordance with a predetermined movement pattern, and when working in the map mode of the cleaning zone, creates a map with reference to the upper zone using the image shot by the top camera; in addition, the remote controller determines the position of the robotic cleaning device by comparing the image card and the current image transmitted from the cleaning device after the upper camera took this image, and when the cleaning signal is received, it sets the cleaning path of the robot cleaning device from the position so determined to perform its intended work. 10. Чистящая система по п.9, в которой дистанционный контроллер создает карту изображения всякий раз при передаче сигнала чистки.10. The cleaning system of claim 9, wherein the remote controller creates an image map each time a cleaning signal is transmitted. 11. Чистящая система по п.10, дополнительно содержащая переднюю камеру, расположенную на основном корпусе и предназначенную для съемки изображения по направлению перемещения роботизированного чистящего устройства, причем дистанционный контроллер создает карту изображения путем трехмерного преобразования верхнего изображения и переднего изображения, переданных указанным чистящим устройством после их съемки соответственно верхней и передней камерами.11. The cleaning system of claim 10, additionally containing a front camera located on the main body and designed to capture images in the direction of movement of the robotic cleaning device, and the remote controller creates an image map by three-dimensional conversion of the upper image and the front image transmitted by the specified cleaning device after their shooting, respectively, the upper and front cameras. 12. Чистящая система по п.9, в которой контроллер разбивает карту изображения на небольшие ячейки заданного размера, определяет наличие особого признака в этих ячейках и задает этот признак в качестве стандартной координатной точки для определения положения.12. The cleaning system according to claim 9, in which the controller divides the image map into small cells of a given size, determines the presence of a special feature in these cells and sets this feature as a standard coordinate point for determining the position. 13. Чистящая система по п.12, в которой особый признак включает по меньшей мере один из таких элементов, как электрическая лампа, датчик пожарной сигнализации, люминесцентная лампа и репродуктор.13. The cleaning system of claim 12, wherein the particular feature includes at least one of such elements as an electric lamp, a fire alarm sensor, a fluorescent lamp, and a reproducer. 14. Чистящая система по п.8, в которой дистанционный контроллер выделяет линейный элемент в изображении, переданном после съемки верхней камерой, и при управлении перемещением роботизированного чистящего устройства корректирует траекторию перемещения с использованием этого выделенного линейного элемента.14. The cleaning system of claim 8, in which the remote controller selects a linear element in the image transmitted after shooting by the upper camera, and when controlling the movement of the robotic cleaning device, corrects the movement path using this highlighted linear element. 15. Способ управления роботизированным чистящим устройством, содержащим верхнюю камеру для съемки верхнего изображения, включающий: создание карты изображения с привязкой к верхней зоне с использованием изображения, снимаемого верхней камерой, путем перемещения роботизированного чистящего устройства в зоне чистки в соответствии с заданной схемой перемещения, определение положения роботизированного чистящего устройства путем сравнения изображения записанной карты изображения и текущего изображения, снимаемого верхней камерой, и вычисление траектории перемещения из определенного таким образом положения в целевое положение при получении сигнала чистки, и перемещение роботизированного чистящего устройства в соответствии с вычисленной траекторией перемещения.15. A method for controlling a robotic cleaning device comprising an upper camera for capturing an upper image, comprising: creating an image map geared to the upper zone using an image captured by the upper camera by moving the robotic cleaning device in the cleaning zone in accordance with a predetermined movement pattern, determining the position of the robotic cleaning device by comparing the image of the recorded image card with the current image captured by the top camera, and you Islenyev movement path of the thus determined position to the target position in the preparation of cleansing signal, and moving of the robotic cleaning device according to the calculated moving path. 16. Способ управления роботизированным чистящим устройством, содержащим верхнюю камеру для съемки верхнего изображения, включающий при установлении режима составления карты зоны чистки создание карты зоны чистки путем перемещения роботизированного чистящего устройства в указанной зоне и сохранение этой карты в памяти, вычисление траектории перемещения в соответствии с заданным порядком чистки при получении сигнала чистки, перемещение роботизированного чистящего устройства в соответствии с вычисленной траекторией перемещения и коррекцию траектории его перемещения путем анализа изображения, снимаемого верхней камерой.16. A method for controlling a robotic cleaning device containing an upper camera for capturing an upper image, including, when setting the cleaning zone map mode, creating a cleaning zone map by moving the robot cleaning device in the indicated zone and storing this map in memory, calculating the movement path in accordance with the specified cleaning procedure when receiving a cleaning signal, moving the robotic cleaning device in accordance with the calculated trajectory of movement and section of the trajectory of its movement by analyzing the image captured by the upper camera. 17. Способ по п.16, в котором на этапе коррекции траектории перемещения выделяют линейный элемент в изображении, снимаемом верхней камерой, и корректируют траекторию перемещения с использованием этого выделенного линейного элемента.17. The method according to clause 16, in which at the stage of correction of the trajectory of movement select a linear element in the image captured by the upper camera, and adjust the trajectory of movement using this selected linear element.
RU2001133030/12A 2001-04-18 2001-12-03 Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions) RU2220643C2 (en)

Applications Claiming Priority (4)

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KR20010020754 2001-04-18
KR2001-20754 2001-04-18
KR10-2001-0065888A KR100406636B1 (en) 2001-04-18 2001-10-25 Robot cleaner and system and method of controling thereof
KR2001-65888 2001-10-25

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CN (1) CN1218815C (en)
AU (1) AU751807B2 (en)
DE (1) DE10164278B4 (en)
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